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In the near future, robots will exist in our home, office, hospital, school and all other public places. In other words, robots have to work and share environments with human. However, there exist many invisible social rules or social protocols in human society. For example, people usually stand in a line to access certain services. It seems that there is a social force or a “spatial effect” which...
Robots will more and more enter our daily life. In order to increase their acceptance it is necessary that their movements and behavior are predictable. With our present experiment we assess the acceptance of autonomous robots in human working and living environments. As a specific indicator we define legibility as an important prerequisite for user acceptance. In a simulator study participants rated...
The results from an empirical study on the impact of a robot's approach trajectories on its social acceptance are presented. An online survey presenting short videos of a robot (IURO — Interactive Urban RObot) approaching a person in a public space and asking for help was shown to the users. IURO either approached a walking or standing person. The results show that walking participants preferred to...
We examine the use of visual navigation techniques for improving human navigation and localization in GPS-denied environments. While many advances have been made in navigation techniques using stereo and monocular motion estimation, significant hurdles exist for a practical system, including size, weight, power, and cost limitations. Humans often move and rotate faster and with more complex motions...
In this paper we present a biologically-inspired model of spatio-temporal learning in the hippocampus and prefrontal cortex which can be used in tasks requiring the behavior of the robot to be constrained by sensory and temporal information. In this model chains of sensory events are learned and associated with motor actions. The temporality of these sequences is also learned and can be used to predict...
This paper aims to provide a framework to model human belief and misperception in helicopter overland navigation. Helicopter overland navigation is known to be a challenging cognitive task, and understanding the cognitive processes associated with it is non-trivial. Twelve military personnel participated in the study and statistical analysis showed that their gaze parameters can be predicted by their...
With the growing demand of personal assistance to mobility and mobile service robotics, robot navigation systems must be “aware” of the social conventions followed by people. They must respect proximity constraints but also respect people interacting. For example, they may not break interaction between people talking, unless the occupants want to take part in the conversation. In this case, they must...
A novel method for controlling a mobile robot using qualitative inputs in the context of an approximate map, such as one sketched by a human, is presented. By defining a desired trajectory with respect to observable landmarks, human operators can send semi-autonomous robots into areas for which a truth map is not available. Waypoint planning is formulated as a quadratic optimization problem, resulting...
Observing human motion patterns is informative for social robots that share the environment with people. This paper presents a methodology to allow a robot to navigate in a complex environment by observing pedestrian positional traces. A continuous probabilistic function is determined using Gaussian process learning and used to infer the direction a robot should take in different parts of the environment...
This paper is concerned with the navigation of personal robots in human-populated environments. The behavior of a person among its peers is governed by a number of unspoken social rules, e.g. maintaining an appropriate distance. The primary contribution of this paper is a navigation scheme that is anthropomorphic, i.e. that emulates human behaviors and seeks to adhere to these social rules. Unlike...
In this paper, we propose a novel interface called Joyman, designed for immersive locomotion in virtual environments. Whereas many previous interfaces preserve or stimulate the users proprioception, the Joyman aims at preserving equilibrioception in order to improve the feeling of immersion during virtual locomotion tasks. The proposed interface is based on the metaphor of a human-scale joystick....
Embodied nonverbal cues are fundamental for regulating human-human social interactions. The physical embodiment of robots makes it likely that they will have to exhibit appropriate nonverbal interactive behaviors. In this paper we propose a model of the user's proximity based on a superposition of quasi-Gaussian probability distributions which allows to express findings from HRI trials regarding distances...
Mobile robots that are employed in people's homes need to safely navigate their environment. And natural human-inhabited environments still pose significant challenges for robots despite the impressive progress that has been achieved in the field of path planning and obstacle avoidance. These challenges mostly arise from the fact that (i) the perceptual abilities of a robot are limited, thus sometimes...
This paper presents a trajectory planning algorithm for a robot operating in dynamic human environments. Environments such as pedestrian streets, hospital corridors, train stations or airports. We formulate the problem as planning a minimal cost trajectory through a potential field, defined from the perceived position and motion of persons in the environment. A Rapidly-exploring Random Tree (RRT)...
Recently, the need of users is changing to the efficient quality of functions with the sophisticated design and reasonable price. Furthermore, current users prefer to the personal customization of products. Accordingly, a design support system is useful and helpful for non-expert people to design products easily, but such non-expert people might take much time and load in the product design. Therefore,...
Visually guided navigation through a cluttered natural scene is a challenging problem that animals and humans accomplish with ease. A neural model proposes how primates use motion information to segment objects and determine heading for purposes of goal approach and obstacle avoidance in response to video inputs from real and virtual environments. The model produces trajectories similar to those of...
This paper introduces a new method to determine a person's pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and time extended interaction between a mobile robot and a human. The robot uses observed information from a laser range finder to detect persons and their position relative to the robot...
This paper presents a study on human performance when people are assisted by a purely reactive navigation control system. The goal of such a system is to achieve collaborative human/robot navigation, so that the human driver is always in control but his/her performance is improved by the machine. This Shared Control approach is meant to be implemented on a power robotic wheelchair, so it is important...
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